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Vladislav Khorev committed 2026-11-15 00:51:21 +06:00
1 parent dc9ea361f0
commit 2401729c1c
82 files changed
+225 -17491
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resources/config/locations/battle_zone_korea.json
+1 -1
View File
@@ -5,7 +5,7 @@
"npcs": "resources/config/npcs_battle_zone.json",
"dialogues": "resources/dialogue/battle_zone_dialogues.json",
"navigation": [
"resources/navigation/battle_zone001.txt",
"resources/navigation/battle_zone001.json",
"resources/navigation/dorm0_large.json"
],
"script": "resources/start_battle_zone.lua",
resources/config/locations/location_dorm.json
+6 -6
View File
@@ -5,12 +5,12 @@
"npcs": "resources/config/npcs_dorm.json",
"dialogues": "resources/dialogue/dorm_dialogues004.json",
"navigation": [
"resources/navigation/dorm3_bca.txt",
"resources/navigation/dorm3_ca.txt",
"resources/navigation/dorm3_ba.txt",
"resources/navigation/dorm3_a.txt",
"resources/navigation/dorm3_b.txt",
"resources/navigation/dorm3_all_open.txt"
"resources/navigation/dorm3_bca.json",
"resources/navigation/dorm3_ca.json",
"resources/navigation/dorm3_ba.json",
"resources/navigation/dorm3_a.json",
"resources/navigation/dorm3_b.json",
"resources/navigation/dorm3_all_open.json"
],
"script": "resources/start_dorm.lua",
"teleports": "resources/config/teleports_dorm.json",
resources/config/locations/uni_exterior.json
+2 -2
View File
@@ -5,8 +5,8 @@
"npcs": "resources/config/npcs_uni_exterior.json",
"dialogues": "resources/dialogue/uni_exterior_dialogues003.json",
"navigation": [
"resources/navigation/uni_exterior3_trees_car.txt",
"resources/navigation/uni_exterior3_trees.txt"
"resources/navigation/uni_exterior3_trees_car.json",
"resources/navigation/uni_exterior3_trees.json"
],
"script": "resources/start_uni_exterior.lua",
"teleports": "resources/config/teleports_uni_exterior.json",
resources/config/locations/uni_interior.json
+17 -17
View File
@@ -5,23 +5,23 @@
"npcs": "resources/config/npcs_uni_interior.json",
"dialogues": "resources/dialogue/uni_interior_dialogues_010.json",
"navigation": [
"resources/navigation/uni_interior4_unlocked_n2.txt",
"resources/navigation/uni_interior3_n2_hall.txt",
"resources/navigation/uni_interior4_n2_lr_hall.txt",
"resources/navigation/uni_interior4_n2_lr_tr_hall.txt",
"resources/navigation/uni_interior3_n2_lr_tr_hall_aiperi.txt",
"resources/navigation/uni_interior3_darklands_all_open.txt",
"resources/navigation/uni_interior4_unlocked_hall.txt",
"resources/navigation/uni_interior4_unlocked_n3.txt",
"resources/navigation/uni_interior4_unlocked_s1.txt",
"resources/navigation/uni_interior4_unlocked_s2.txt",
"resources/navigation/uni_interior4_unlocked_s3.txt",
"resources/navigation/uni_interior4_unlocked_s3_s1.txt",
"resources/navigation/uni_interior4_unlocked_s3_hall.txt",
"resources/navigation/uni_interior4_unlocked_s3_n3.txt",
"resources/navigation/uni_interior4_unlocked_s3_n2.txt",
"resources/navigation/uni_interior4_unlocked_s3_s2.txt",
"resources/navigation/uni_interior4_locked.txt"
"resources/navigation/uni_interior4_unlocked_n2.json",
"resources/navigation/uni_interior3_n2_hall.json",
"resources/navigation/uni_interior4_n2_lr_hall.json",
"resources/navigation/uni_interior4_n2_lr_tr_hall.json",
"resources/navigation/uni_interior3_n2_lr_tr_hall_aiperi.json",
"resources/navigation/uni_interior3_darklands_all_open.json",
"resources/navigation/uni_interior4_unlocked_hall.json",
"resources/navigation/uni_interior4_unlocked_n3.json",
"resources/navigation/uni_interior4_unlocked_s1.json",
"resources/navigation/uni_interior4_unlocked_s2.json",
"resources/navigation/uni_interior4_unlocked_s3.json",
"resources/navigation/uni_interior4_unlocked_s3_s1.json",
"resources/navigation/uni_interior4_unlocked_s3_hall.json",
"resources/navigation/uni_interior4_unlocked_s3_n3.json",
"resources/navigation/uni_interior4_unlocked_s3_n2.json",
"resources/navigation/uni_interior4_unlocked_s3_s2.json",
"resources/navigation/uni_interior4_locked.json"
],
"script": "resources/start_uni_interior.lua",
"teleports": "resources/config/teleports_uni_interior.json",
resources/navigation/battle_zone001.json
+1 -5
View File
@@ -1,5 +1,4 @@
{
"agentRadius": 0.30000001192092896,
"areas": [
{
"available": true,
@@ -24,10 +23,7 @@
]
}
],
"boundaryPadding": 0.07500000298023224,
"cellSize": 0.10000000149011612,
"floorY": 0.0,
"objectPadding": 0.07500000298023224,
"obstacles": [
{
"name": "editor_obstacle_1",
@@ -453,4 +449,4 @@
]
}
]
}
}
resources/navigation/battle_zone001.txt
-2221
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File diff suppressed because it is too large. Load diff
resources/navigation/dorm0.json
+1 -5
View File
@@ -1,5 +1,4 @@
{
"agentRadius": 0.3,
"areas": [
{
"available": true,
@@ -24,10 +23,7 @@
]
}
],
"boundaryPadding": 0.075,
"cellSize": 0.075,
"floorY": 0.0,
"objectPadding": 0.075,
"obstacles": [
]
}
}
resources/navigation/dorm0_large.json
+1 -5
View File
@@ -1,5 +1,4 @@
{
"agentRadius": 0.3,
"areas": [
{
"available": true,
@@ -24,10 +23,7 @@
]
}
],
"boundaryPadding": 0.075,
"cellSize": 0.075,
"floorY": 0.0,
"objectPadding": 0.075,
"obstacles": [
]
}
}
resources/navigation/dorm1_part01.json
+1 -5
View File
@@ -1,5 +1,4 @@
{
"agentRadius": 0.3,
"areas": [
{
"available": true,
@@ -24,10 +23,7 @@
]
}
],
"boundaryPadding": 0.075,
"cellSize": 0.075,
"floorY": 0.0,
"objectPadding": 0.075,
"obstacles": [
{
"name": "editor_obstacle_1",
@@ -219,4 +215,4 @@
]
}
]
}
}
resources/navigation/dorm3_a.json
+1 -5
View File
@@ -1,5 +1,4 @@
{
"agentRadius": 0.30000001192092896,
"areas": [
{
"available": true,
@@ -24,10 +23,7 @@
]
}
],
"boundaryPadding": 0.07500000298023224,
"cellSize": 0.10000000149011612,
"floorY": 0.0,
"objectPadding": 0.07500000298023224,
"obstacles": [
{
"name": "editor_obstacle_1",
@@ -1341,4 +1337,4 @@
]
}
]
}
}
resources/navigation/dorm3_a.txt
-480
View File
@@ -1,480 +0,0 @@
cellSize 0.1
agentRadius 0.3
floorY 0
objectPadding 0.075
boundaryPadding 0.075
minX -14.6469
minZ -23.5919
gridWidth 243
gridDepth 471
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resources/navigation/uni_interior3_unlocked_n3.json
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resources/navigation/uni_interior3_unlocked_s1.json
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resources/navigation/uni_interior3_unlocked_s1.txt
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resources/navigation/uni_interior4_unlocked_n3.json
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resources/navigation/uni_interior4_unlocked_n3.txt
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View File
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resources/navigation/uni_interior4_unlocked_s3_s2.txt
-421
View File
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server/tests/PathFinderTests.cpp
+59 -7
View File
@@ -2,7 +2,10 @@
#include <Eigen/Core>
#include <cstdlib>
#include <filesystem>
#include <fstream>
#include <iostream>
#include <stdexcept>
namespace {
int fail(const char* message)
@@ -10,26 +13,75 @@ int fail(const char* message)
std::cout << "PathFinderTests: " << message << std::endl;
return EXIT_FAILURE;
}
std::filesystem::path writeNavigationFixture()
{
const auto path = std::filesystem::temp_directory_path() /
"shadow_over_bishkek_pathfinder_test.json";
std::ofstream file(path);
file << R"json({
"areas": [{
"available": true,
"name": "test_area",
"polygon": [[-10.0, 10.0], [10.0, 10.0], [10.0, -10.0], [-10.0, -10.0]]
}],
"floorY": 2.5,
"obstacles": [{
"name": "test_obstacle",
"polygon": [[-1.0, 1.0], [1.0, 1.0], [1.0, -1.0], [-1.0, -1.0]]
}]
})json";
if (!file)
throw std::runtime_error("Failed to create navigation test fixture");
return path;
}
}
int main()
{
const auto configPath = writeNavigationFixture();
FRG::PathFinder pathFinder;
pathFinder.build();
pathFinder.build(configPath.string());
if (!pathFinder.isReady()) return fail("Navmesh was not built");
const Eigen::Vector3f start(-50.f, 0.f, -50.f);
const Eigen::Vector3f end(50.f, 0.f, 50.f);
if (pathFinder.getArea().name != "test_area")
return fail("First navigation area was not loaded");
if (pathFinder.getArea().polygon.size() != 4)
return fail("Navigation area polygon was not loaded");
if (pathFinder.getObstaclePolygons().size() != 1 ||
pathFinder.getObstaclePolygons().front().name != "test_obstacle")
return fail("Navigation obstacles were not loaded");
if (static_cast<float>(pathFinder.getFloorY()) != 2.5f)
return fail("Navigation floorY was not loaded");
const Eigen::Vector3f start(-5.f, 0.f, -5.f);
const Eigen::Vector3f end(5.f, 0.f, 5.f);
const auto path = pathFinder.findPathToNearest(start, end);
if (path.size() < 2) return fail("Path query did not produce a route");
if (!pathFinder.isWalkable(Eigen::Vector3f(0.f, 0.f, 50.f)))
if (!pathFinder.isWalkable(Eigen::Vector3f(0.f, 0.f, 5.f)))
return fail("Walkability query failed");
if (path.back().y() != 2.5f)
return fail("Path waypoint did not use floorY");
const auto clamped = pathFinder.clampToNavMesh(FRG::Vec2fp::fromFloat(150.f, 150.f));
if (static_cast<float>(clamped.x) > 100.01f ||
static_cast<float>(clamped.y) > 100.01f)
const auto clamped = pathFinder.clampToNavMesh(FRG::Vec2fp::fromFloat(50.f, 50.f));
if (static_cast<float>(clamped.x) > 10.01f ||
static_cast<float>(clamped.y) > 10.01f)
return fail("Clamping returned a point outside the navmesh");
pathFinder.build(configPath.string());
if (pathFinder.getObstaclePolygons().size() != 1)
return fail("Repeated build accumulated navigation obstacles");
bool rejectedNonJson = false;
try {
pathFinder.build((configPath.parent_path() / "navigation.txt").string());
} catch (const std::runtime_error&) {
rejectedNonJson = true;
}
if (!rejectedNonJson)
return fail("Non-JSON navigation config was accepted");
std::filesystem::remove(configPath);
std::cout << "PathFinderTests: OK" << std::endl;
return EXIT_SUCCESS;
}
src/navigation/PathFinder.cpp
+98 -17
View File
@@ -1,33 +1,114 @@
#include "navigation/PathFinder.h"
#include <algorithm>
#include <cctype>
#include <functional>
#include <limits>
#include <queue>
#include <stdexcept>
#include <utility>
#include "utils/Utils.h"
namespace FRG {
namespace {
using json = nlohmann::json;
json loadNavigationJson(const std::string& configPath, const std::string& zipPath) {
if (configPath.size() < 5 ||
std::tolower(static_cast<unsigned char>(configPath[configPath.size() - 5])) != '.' ||
std::tolower(static_cast<unsigned char>(configPath[configPath.size() - 4])) != 'j' ||
std::tolower(static_cast<unsigned char>(configPath[configPath.size() - 3])) != 's' ||
std::tolower(static_cast<unsigned char>(configPath[configPath.size() - 2])) != 'o' ||
std::tolower(static_cast<unsigned char>(configPath[configPath.size() - 1])) != 'n') {
throw std::runtime_error("Navigation config must be a JSON file: " + configPath);
}
std::string content;
try {
if (zipPath.empty()) {
content = readTextFile(configPath);
} else {
auto buffer = readFileFromZIP(configPath, zipPath);
if (buffer.empty())
throw std::runtime_error("empty result from zip");
content.assign(buffer.begin(), buffer.end());
}
} catch (const std::exception& e) {
throw std::runtime_error("Failed to read navigation config " + configPath + ": " + e.what());
}
if (content.empty())
throw std::runtime_error("Failed to read navigation config " + configPath + ": empty file");
try {
return json::parse(content);
} catch (const std::exception& e) {
throw std::runtime_error("JSON parse error in " + configPath + ": " + e.what());
}
}
std::vector<Vec2fp> parsePolygon(const json& polygon, const std::string& description) {
if (!polygon.is_array() || polygon.size() < 3)
throw std::runtime_error(description + " must contain at least three points");
std::vector<Vec2fp> result;
result.reserve(polygon.size());
for (std::size_t i = 0; i < polygon.size(); ++i) {
const auto& point = polygon.at(i);
if (!point.is_array() || point.size() != 2 ||
!point.at(0).is_number() || !point.at(1).is_number()) {
throw std::runtime_error(description + " point " + std::to_string(i) +
" must be an [x, z] numeric pair");
}
result.push_back(Vec2fp::fromFloat(
point.at(0).get<float>(), point.at(1).get<float>()));
}
return result;
}
}
void PathFinder::build(const std::string& configPath, const std::string& zipPath) {
// Здесь может быть парсинг configPath в area и obstaclePolygons.
// После заполнения геометрии строим NavMesh:
area.name = "main";
area.polygon = {
Vec2fp::fromFloat(-100.f, -100.f),
Vec2fp::fromFloat(-100.f, 100.f),
Vec2fp::fromFloat(100.f, 100.f),
Vec2fp::fromFloat(100.f, -100.f)
};
ready = false;
navMesh.clear();
area = NavigationArea{};
obstaclePolygons.clear();
floorY = fp(0);
area.available = true;
const json config = loadNavigationJson(configPath, zipPath);
if (!config.is_object())
throw std::runtime_error("Navigation config must contain a JSON object: " + configPath);
obstaclePolygons.push_back({
"p1",{ Vec2fp::fromFloat(-10.f, -10.f),
Vec2fp::fromFloat(-10.f, 10.f),
Vec2fp::fromFloat(10.f, 10.f),
Vec2fp::fromFloat(10.f, -10.f) }
});
const auto& areas = config.at("areas");
if (!areas.is_array() || areas.empty())
throw std::runtime_error("Navigation config must contain a non-empty 'areas' array: " + configPath);
//ready = true;
const auto& areaConfig = areas.at(0);
if (!areaConfig.is_object())
throw std::runtime_error("The first navigation area must be an object: " + configPath);
area.name = areaConfig.at("name").get<std::string>();
area.available = areaConfig.value("available", true);
area.polygon = parsePolygon(areaConfig.at("polygon"), "Navigation area polygon");
const auto& obstacles = config.at("obstacles");
if (!obstacles.is_array())
throw std::runtime_error("Navigation config 'obstacles' must be an array: " + configPath);
for (std::size_t i = 0; i < obstacles.size(); ++i) {
const auto& obstacleConfig = obstacles.at(i);
if (!obstacleConfig.is_object())
throw std::runtime_error("Navigation obstacle " + std::to_string(i) +
" must be an object: " + configPath);
ObstaclePolygon obstacle;
obstacle.name = obstacleConfig.at("name").get<std::string>();
obstacle.polygon = parsePolygon(
obstacleConfig.at("polygon"),
"Navigation obstacle " + std::to_string(i) + " polygon");
obstaclePolygons.push_back(std::move(obstacle));
}
floorY = fp(config.value<double>("floorY", 0.0));
generateNavMesh();
}